Multi-joint type surgical device

Abstract

A multi-joint type surgical device includes a driving part configured to control a pitch rotation of an end tool. The driving part includes a driving part pitch relay pulley formed such that at least a portion of a wire is wound therearound and a driving part pitch satellite pulley that changes a position thereof relative to the driving part pitch relay pulley by moving relative to the driving part pitch relay pulley while being spaced a certain distance from the driving part pitch relay pulley, and is formed such that at least a portion of the wire is wound therearound, and when the driving part pitch satellite pulley is moved relative to the driving part pitch relay pulley, the pitch rotation of the end tool is controlled as an overall length of the wire in the driving part is changed.

The invention claimed is: 
     
       1. A multi-joint type surgical device comprising a driving part configured to control a pitch rotation of an end tool,
 wherein the driving part includes: 
 a driving part pitch relay pulley formed such that at least a portion of a wire is wound therearound; and 
 a driving part pitch satellite pulley that changes a position thereof relative to the driving part pitch relay pulley by moving relative to the driving part pitch relay pulley while being spaced a certain distance from the driving part pitch relay pulley, and is formed such that at least a portion of the wire is wound therearound, 
 wherein, when the driving part pitch satellite pulley is moved relative to the driving part pitch relay pulley, the pitch rotation of the end tool is controlled as an overall length of the wire in the driving part is changed. 
 
     
     
       2. The multi-joint type surgical device of  claim 1 , wherein, when the driving part pitch satellite pulley is moved relative to the driving part pitch relay pulley, the overall length of the wire in the driving part is changed as a path length of the wire wound around the driving part pitch relay pulley is changed. 
     
     
       3. The multi-joint type surgical device of  claim 1 , further comprising a driving part pitch pulley formed to be rotatable around a driving part pitch rotation shaft,
 wherein the driving part pitch satellite pulley is formed to be movable relative to the driving part pitch pulley, and 
 when the driving part pitch pulley is rotated, a relative position of the driving part pitch satellite pulley with respect to the driving part pitch rotation shaft is changed. 
 
     
     
       4. The multi-joint type surgical device of  claim 3 , further comprising a driving part pitch connector that is rotated around the driving part pitch rotation shaft together with the driving part pitch pulley,
 wherein the driving part pitch satellite pulley is coupled to one end portion of the driving part pitch connector. 
 
     
     
       5. The multi-joint type surgical device of  claim 3 , wherein
 the driving part pitch pulley is formed to be rotatable around the driving part pitch rotation shaft, and 
 the driving part pitch satellite pulley is formed to be revolvable around the driving part pitch rotation shaft. 
 
     
     
       6. The multi-joint type surgical device of  claim 3 , wherein
 the wire includes a first wire and a second wire extending to the end tool through the driving part pitch relay pulley, and 
 when the driving part pitch rotation shaft is rotated, the first wire and the second wire are moved in a same direction. 
 
     
     
       7. The multi-joint type surgical device of  claim 3 , wherein
 the driving part additionally controls a yaw rotation of the end tool, and 
 the driving part includes: 
 a driving part yaw relay pulley formed such that at least a portion of the wire is wound therearound; and 
 a driving part yaw satellite pulley that changes a position thereof relative to the driving part yaw relay pulley by moving relative to the driving part yaw relay pulley while being spaced a certain distance from the driving part yaw relay pulley, and is formed such that at least a portion of the wire is wound therearound, 
 wherein, when the driving part yaw satellite pulley is moved relative to the driving part yaw relay pulley, the yaw rotation of the end tool is controlled as the overall length of the wire in the driving part is changed. 
 
     
     
       8. The multi-joint type surgical device of  claim 7 , further comprising a driving part yaw rotation shaft that is different from the driving part pitch rotation shaft,
 wherein the driving part yaw satellite pulley is formed to be movable relative to the driving part yaw rotation shaft, and 
 when the driving part yaw rotation shaft is rotated, a relative position of the driving part yaw satellite pulley with respect to the driving part yaw rotation shaft is changed. 
 
     
     
       9. The multi-joint type surgical device of  claim 8 , wherein the driving part yaw satellite pulley includes:
 a driving part first yaw satellite pulley formed such that at least a portion of a first wire of the wire is wound therearound; and 
 a driving part second yaw satellite pulley formed such that at least a portion of a second wire of the wire is wound therearound. 
 
     
     
       10. The multi-joint type surgical device of  claim 9 , wherein the driving part further includes a driving part yaw first connector and a driving part yaw second connector formed to rotate together with the driving part yaw rotation shaft,
 wherein the driving part first yaw satellite pulley is coupled to one end portion of the driving part yaw first connector, 
 the driving part second yaw satellite pulley is coupled to one end portion of the driving part yaw second connector, and 
 when the driving part yaw rotation shaft is rotated, the driving part first yaw satellite pulley and the driving part second yaw satellite pulley are rotated together around the driving part yaw rotation shaft. 
 
     
     
       11. The multi-joint type surgical device of  claim 9 , wherein when the driving part yaw rotation shaft is rotated, the first wire and the second wire extending from the driving part to the end tool are moved in different directions from each other. 
     
     
       12. A multi-joint type surgical device comprising a driving part configured to control a pitch rotation and a yaw rotation of an end tool,
 wherein the driving part includes: 
 a driving part relay pulley formed to be rotatable around a first shaft and formed such that at least a portion of a wire is wound therearound; and 
 a driving part satellite pulley that changes a position thereof relative to the driving part relay pulley by moving relative to the driving part relay pulley while being spaced a certain distance from the driving part relay pulley, and is formed such that at least a portion of the wire is wound therearound, 
 wherein, when the driving part satellite pulley is moved relative to the driving part relay pulley, the pitch rotation of the end tool is controlled as an overall length of the wire in the driving part is changed. 
 
     
     
       13. The multi-joint type surgical device of  claim 12 , wherein, when the driving part satellite pulley is moved relative to the driving part relay pulley, the overall length of the wire in the driving part is changed as a path length of the wire wound around the driving part relay pulley is changed. 
     
     
       14. The multi-joint type surgical device of  claim 12 , further comprising a driving part pitch pulley formed to be rotatable around the first shaft,
 wherein the driving part satellite pulley is formed to be movable relative to the driving part pitch pulley, and 
 when the driving part pitch pulley is rotated, a relative position of the driving part satellite pulley with respect to the first shaft is changed. 
 
     
     
       15. The multi-joint type surgical device of  claim 14 , wherein, when the driving part pitch pulley is rotated, the driving part satellite pulley is moved in conjunction with the driving part pitch pulley. 
     
     
       16. The multi-joint type surgical device of  claim 14 , wherein, when the driving part pitch pulley is rotated around the first shaft, the overall length of the wire in the driving part is changed as the driving part satellite pulley is moved relative to the driving part pitch pulley. 
     
     
       17. The multi-joint type surgical device of  claim 14 , further comprising a pitch-yaw connector formed to rotate together with the driving part pitch pulley around the first shaft,
 wherein the driving part satellite pulley is coupled to one end portion of the pitch-yaw connector. 
 
     
     
       18. The multi-joint type surgical device of  claim 14 , wherein
 the driving part pitch pulley is formed to be rotatable around the first shaft, and 
 the driving part satellite pulley is formed to be revolvable around the first shaft. 
 
     
     
       19. The multi-joint type surgical device of  claim 12 , wherein the wire extends toward the end tool after being sequentially wound around the driving part relay pulley, the driving part satellite pulley, and the driving part relay pulley.